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Limited Z-compensation much stronger to prevent throttle jumps

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This commit is contained in:
Lorenz Meier 2012-09-09 22:18:21 +02:00
parent 6caa3038ba
commit 80c6252c0a
1 changed files with 4 additions and 4 deletions
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8
apps/multirotor_att_control/multirotor_attitude_control.c
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@ -252,15 +252,15 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
*/
float zcompensation = 1.0f;
if (fabsf(att->roll) > 1.0f) {
zcompensation *= 1.85081571768f;
if (fabsf(att->roll) > 0.3f) {
zcompensation *= 1.04675160154f;
} else {
zcompensation *= 1.0f / cosf(att->roll);
}
if (fabsf(att->pitch) > 1.0f) {
zcompensation *= 1.85081571768f;
if (fabsf(att->pitch) > 0.3f) {
zcompensation *= 1.04675160154f;
} else {
zcompensation *= 1.0f / cosf(att->pitch);